/* 
 *  Incub - incubate your baby robot
 *  Copyright (C) 2008 Stanislaw Szymczyk
 *  e-mail: sszymczy@gmail.com   www: http://cogville.cog-lab.com
 *
 *  This file is part of Incub.
 *
 *  Incub is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  Incub is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with Incub.  If not, see <http://www.gnu.org/licenses/>.
 * 
 */
 
#ifndef QUATERNION_H_
#define QUATERNION_H_

#include <math.h>
#include "Vector3D.h"

class Quaternion {
	public:
	double x, y, z, w;
	Quaternion();
	Quaternion(double x, double y, double z, double angle);
	void setRpy(float roll, float pitch, float yaw);
	void getRpy(double *rpy);
	float getRoll();
	float getPitch();
	float getYaw();
	Quaternion mul(Quaternion q1, Quaternion q2);
	void rotate(double *v);
	Quaternion operator* (const Quaternion& b);
	Vector3D operator* (const Vector3D& b);
	Quaternion operator- ();
	void getMatrix(double *mat);
};

#endif /*QUATERNION_H_*/
